FPGA Hardware Implementation Of Tyre Force Estimation Based On Catapult C

With the rapid development of the automotive industry, research on vehicle safetyperformance has become an important topic. When the Vehicles is running, the tyres aredirectly contact with the road, playing a very important role,such as supporting vehicleweight,amortizing the forces between the vehicle and the ground, providing adhesion fordriving and braking operation.So that the research for tyre forces is a very essential part ofthe performance of the car.This paper presents a estimator based on extended Kalman fortyre forces,and finished the estimator based on FPGA to meet the real-time requirements.As a basis for the design,in first apart of the paper, vehicle dynamics model wasstudied to analyze the major dynamics of tyre and vehicle.Then finish the Eight degrees offreedom vehicle model, to meet the requirements of active safety control systems andalgorithms design requirements,and using AMESim established a fifteen degree of freedomvehicle model, to prepare for the algorithm validation work.The Extended Kalmanalgorithm is selected for the estimation algorithm for the tyre forces.A preliminarysimulation algorithm test is carried out by Simulink and AMESim co-simulation.Catapult SL Synthesis which is Mentor’s production of the C language algorithmsynthesizer can translate the algorithm into C/C++language for the hardware, so thealgorithm described by a non-timed was traslate into timing constraints,saving the time forwriting and debuging code. Catapult C can improve the efficiency for FPGA developmentSo Catapult C will be selected for translating extended Kalman algorithm which is describedin C++code into a hardware description language.Then Modelsim is using to finish thefunctional simulation, and the co-simulation with AMESim for further validation estimatorperformance. Quartus II will provided the RTL gate-level view, and resource utilizationreport estimator table, so the initial realization of tyre forces estimation hardware will befinished.